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<title>OpenCV: cv::linemod::Modality Class Reference</title>
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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d5/d08/namespacecv_1_1linemod.html">linemod</a></li><li class="navelem"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html">Modality</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
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<a href="../../df/dd0/classcv_1_1linemod_1_1Modality-members.html">List of all members</a>  </div>
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<div class="title">cv::linemod::Modality Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="../../d2/d3a/group__rgbd.html">RGB-Depth Processing</a></div></div>  </div>
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<p>Interface for modalities that plug into the LINE template matching representation.  
 <a href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#details">More...</a></p>
<p><code>#include &lt;opencv2/rgbd/linemod.hpp&gt;</code></p>
<div class="dynheader">
Inheritance diagram for cv::linemod::Modality:</div>
<div class="dyncontent">
 <div class="center">
  <img alt="" src="../../d5/d1c/classcv_1_1linemod_1_1Modality.png" usemap="#cv::linemod::Modality_map"/>
  <map id="cv::linemod::Modality_map" name="cv::linemod::Modality_map">
<area alt="cv::linemod::ColorGradient" coords="0,56,160,80" href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html" shape="rect" title="Modality that computes quantized gradient orientations from a color image. "/>
<area alt="cv::linemod::DepthNormal" coords="170,56,330,80" href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html" shape="rect" title="Modality that computes quantized surface normals from a dense depth map. "/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ad9aa75d6fc6aa76ae306f19596aab56d"><td align="right" class="memItemLeft" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#ad9aa75d6fc6aa76ae306f19596aab56d">~Modality</a> ()</td></tr>
<tr class="separator:ad9aa75d6fc6aa76ae306f19596aab56d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7bb2e375a44df3f6bb2fbf3d51292808"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#a7bb2e375a44df3f6bb2fbf3d51292808">name</a> () const =0</td></tr>
<tr class="separator:a7bb2e375a44df3f6bb2fbf3d51292808"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a62fc60996f8d3e30a96ee8a078e1c57b"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d6f/classcv_1_1linemod_1_1QuantizedPyramid.html">QuantizedPyramid</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#a62fc60996f8d3e30a96ee8a078e1c57b">process</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;src, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;mask=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="memdesc:a62fc60996f8d3e30a96ee8a078e1c57b"><td class="mdescLeft"> </td><td class="mdescRight">Form a quantized image pyramid from a source image.  <a href="#a62fc60996f8d3e30a96ee8a078e1c57b">More...</a><br/></td></tr>
<tr class="separator:a62fc60996f8d3e30a96ee8a078e1c57b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2d2e8c65f8221a38af040dc1af44cb51"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#a2d2e8c65f8221a38af040dc1af44cb51">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)=0</td></tr>
<tr class="separator:a2d2e8c65f8221a38af040dc1af44cb51"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac8ec5fe840feca057df5a4f90c7bd7b4"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#ac8ec5fe840feca057df5a4f90c7bd7b4">write</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const =0</td></tr>
<tr class="separator:ac8ec5fe840feca057df5a4f90c7bd7b4"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:aa6e6d3c9b5a672e4019c215d50f0e0d2"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html">Modality</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#aa6e6d3c9b5a672e4019c215d50f0e0d2">create</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;modality_type)</td></tr>
<tr class="memdesc:aa6e6d3c9b5a672e4019c215d50f0e0d2"><td class="mdescLeft"> </td><td class="mdescRight">Create modality by name.  <a href="#aa6e6d3c9b5a672e4019c215d50f0e0d2">More...</a><br/></td></tr>
<tr class="separator:aa6e6d3c9b5a672e4019c215d50f0e0d2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af89910d21ad063495b76526fc451ac54"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html">Modality</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#af89910d21ad063495b76526fc451ac54">create</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:af89910d21ad063495b76526fc451ac54"><td class="mdescLeft"> </td><td class="mdescRight">Load a modality from file.  <a href="#af89910d21ad063495b76526fc451ac54">More...</a><br/></td></tr>
<tr class="separator:af89910d21ad063495b76526fc451ac54"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a7d1218566fa5ceb3d0358f3c3d467c12"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d6f/classcv_1_1linemod_1_1QuantizedPyramid.html">QuantizedPyramid</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#a7d1218566fa5ceb3d0358f3c3d467c12">processImpl</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;src, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;mask) const =0</td></tr>
<tr class="separator:a7d1218566fa5ceb3d0358f3c3d467c12"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Interface for modalities that plug into the LINE template matching representation. </p>
<dl class="todo"><dt><b><a class="el" href="../../dd/da0/todo.html#_todo000012">Todo:</a></b></dt><dd>Max response, to allow optimization of summing (255/MAX) features as uint8 </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ad9aa75d6fc6aa76ae306f19596aab56d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad9aa75d6fc6aa76ae306f19596aab56d">◆ </a></span>~Modality()</h2>
<div class="memitem">
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      <table class="memname">
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          <td class="memname">virtual cv::linemod::Modality::~Modality </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="aa6e6d3c9b5a672e4019c215d50f0e0d2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa6e6d3c9b5a672e4019c215d50f0e0d2">◆ </a></span>create() <span class="overload">[1/2]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html">Modality</a>&gt; cv::linemod::Modality::create </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp; </td>
          <td class="paramname"><em>modality_type</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod.Modality_create(</td><td class="paramname">modality_type</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod.Modality_create(</td><td class="paramname">fn</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Create modality by name. </p>
<p>The following modality types are supported:</p><ul>
<li>"ColorGradient"</li>
<li>"DepthNormal" </li>
</ul>
</div>
</div>
<a id="af89910d21ad063495b76526fc451ac54"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af89910d21ad063495b76526fc451ac54">◆ </a></span>create() <span class="overload">[2/2]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html">Modality</a>&gt; cv::linemod::Modality::create </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp; </td>
          <td class="paramname"><em>fn</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod.Modality_create(</td><td class="paramname">modality_type</td><td>)</td></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod.Modality_create(</td><td class="paramname">fn</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Load a modality from file. </p>
</div>
</div>
<a id="a7bb2e375a44df3f6bb2fbf3d51292808"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7bb2e375a44df3f6bb2fbf3d51292808">◆ </a></span>name()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> cv::linemod::Modality::name </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod_Modality.name(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Implemented in <a class="el" href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html#ae8a552fd9b585327543f14fff8c8be95">cv::linemod::DepthNormal</a>, and <a class="el" href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html#a416a321df19b3bfde0913bb81fe4d841">cv::linemod::ColorGradient</a>.</p>
</div>
</div>
<a id="a62fc60996f8d3e30a96ee8a078e1c57b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a62fc60996f8d3e30a96ee8a078e1c57b">◆ </a></span>process()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d7/d6f/classcv_1_1linemod_1_1QuantizedPyramid.html">QuantizedPyramid</a>&gt; cv::linemod::Modality::process </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod_Modality.process(</td><td class="paramname">src[, mask]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Form a quantized image pyramid from a source image. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>The source image. Type depends on the modality. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>Optional mask. If not empty, unmasked pixels are set to zero in quantized image and cannot be extracted as features. </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7d1218566fa5ceb3d0358f3c3d467c12">◆ </a></span>processImpl()</h2>
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          <td class="memname">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d7/d6f/classcv_1_1linemod_1_1QuantizedPyramid.html">QuantizedPyramid</a>&gt; cv::linemod::Modality::processImpl </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>src</em>, </td>
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          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>mask</em> </td>
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          <td>)</td>
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<p>Implemented in <a class="el" href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html#a1aa7e852dc6e942ba83c14b72e2d16d3">cv::linemod::DepthNormal</a>, and <a class="el" href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html#a82d035855d8fd9719e3d27d1d1e25660">cv::linemod::ColorGradient</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2d2e8c65f8221a38af040dc1af44cb51">◆ </a></span>read()</h2>
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          <td class="memname">virtual void cv::linemod::Modality::read </td>
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          <td class="paramtype">const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp; </td>
          <td class="paramname"><em>fn</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.linemod_Modality.read(</td><td class="paramname">fn</td><td>)</td></tr></table>
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<p>Implemented in <a class="el" href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html#a08ec3f3eecde3c63b677b89bfc12ad69">cv::linemod::DepthNormal</a>, and <a class="el" href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html#a211adc6596382d9848fd379d8a8dedf7">cv::linemod::ColorGradient</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac8ec5fe840feca057df5a4f90c7bd7b4">◆ </a></span>write()</h2>
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          <td class="memname">virtual void cv::linemod::Modality::write </td>
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          <td class="paramtype"><a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp; </td>
          <td class="paramname"><em>fs</em></td><td>)</td>
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<p>Implemented in <a class="el" href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html#a0f08a979b7d0d2fda254c2b450379477">cv::linemod::DepthNormal</a>, and <a class="el" href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html#a5fb3cc4af2c17519e9901c9f5fa29047">cv::linemod::ColorGradient</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/rgbd/<a class="el" href="../../d7/d7a/linemod_8hpp.html">linemod.hpp</a></li>
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